Prescribed Performance-Based Recoil Compensation Control for Flying Rifle Systems

Multi-rotor reconnaissance-strike integrated flying gun systems exhibit advantages in lightweight design and cost-effectiveness, yet achieving continuous accurate firing under disturbances such as recoil forces remains a critical challenge. To address the muzzle deflection disturbances induced by recoil and meet the stringent dynamic performance requirements of continuous firing, this paper integrates prescribed performance control (PPC) with backstepping control methodology, significantly enhancing the system's transient responsiveness. Through an enhanced prescribed performance function, an explicitly parameterized design of system convergence time is realized, streamlining controller tuning during system development. Experimental results demonstrate that the proposed method effectively suppresses muzzle pointing errors under recoil disturbances, improving both dynamic performance and operational capability.